CANopen 111/176
3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
SLK preparation
The application data is read/written using the transfer buffers. The buffer mapping
has to be configured once for each buffer. Afterward, the SLK switches to the link
state CONNECTING with the command-oriented data exchange.
No. Action COB rd/wr Index/
subindex
Data
1 Lock both transfer buffers, 0 and 1, so
buffer mapping can be configured
SDO
SDO
wr
wr
2100/01
2101/01
0x00
0x00
2
Delete mappings for buffers 0 and 1
SDO
SDO
wr
wr
2110/00
2111/00
0x00000000
0x00000000
3 Prepare first mapping for transfer buffer
0 to read MDT status
SDO wr 2110/01 0x80000001
4 Prepare second mapping for transfer
buffer 0 to read 32 bytes starting at
MDT address 0x0110
SDO wr 2110/02 0x00440020
5 Configure both mappings for buffer 0
by entering the number of mappings in
subindex 0.
SDO wr 2110/00 0x00000002
6 Prepare transfer buffer 1 mapping to
write 60 bytes starting at MDT address
0x0100
SDO wr 2111/02 0x0040003C
7 Configure mapping for buffer 1 by enter-
ing the number of mappings in subindex
0, in this case 1
SDO wr 2111/00 0x00000001
8 Activate transfer buffer 1 for direct data
exchange
SDO wr 2101/01 0x01
9 Activate transfer buffer 0 as prefetch
buffer. The mapped data blocks will be
read automatically from the next MDT
SDO wr 2100/01 0x03
10 Make SLK ready to receive
(CONNECTING)
SDO wr 2600/02 0x01
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY
ENGLISH
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